230 lines
6.2 KiB
C
230 lines
6.2 KiB
C
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/**
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* \file
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* <!--
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* This file is part of BeRTOS.
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*
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* Bertos is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* As a special exception, you may use this file as part of a free software
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* library without restriction. Specifically, if other files instantiate
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* templates or use macros or inline functions from this file, or you compile
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* this file and link it with other files to produce an executable, this
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* file does not by itself cause the resulting executable to be covered by
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* the GNU General Public License. This exception does not however
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* invalidate any other reasons why the executable file might be covered by
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* the GNU General Public License.
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*
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* Copyright 2007 Develer S.r.l. (http://www.develer.com/)
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* -->
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*
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* \brief pocketBus protocol Command layer implementation.
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*
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* This module implements command layer over pocketBus
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* protocol.
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* Payload packets received by pocketBus are first checked for
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* address matching.
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* If a packet is addressed to us we look for a suitable
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* callback function to call.
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*
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* The received payload format is as follows:
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* <pre>
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* +----------------------------------------+
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* | CMD | DATA |
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* +----------------------------------------+
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* | | |
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* + 2B + 0..N Byte +
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* </pre>
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*
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* The CMD ID used is the same supplied by the master when
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* the command was sent.
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*
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* \author Francesco Sacchi <batt@develer.com>
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*/
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#include "pocketcmd.h"
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#include "pocketbus.h"
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#include "cfg/cfg_pocketbus.h"
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// Define logging setting (for cfg/log.h module).
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#define LOG_LEVEL POCKETBUS_LOG_LEVEL
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#define LOG_VERBOSITY POCKETBUS_LOG_FORMAT
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#include <cfg/log.h>
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#include <cfg/debug.h>
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#include <cfg/macros.h>
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#include <cfg/module.h>
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#include <drv/timer.h>
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#include <cpu/byteorder.h>
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#include <cpu/detect.h>
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#include <string.h>
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/**
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* pocketBus Command poll function.
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* Call it to read and process pocketBus commands.
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*/
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void pocketcmd_poll(struct PocketCmdCtx *ctx)
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{
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PocketCmdMsg msg;
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while (pocketcmd_recv(ctx, &msg))
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{
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/* Check for command callback */
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pocketcmd_hook_t callback = ctx->search(msg.cmd);
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/* Call it if exists */
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if (callback)
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callback(&msg);
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}
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}
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/**
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* pocketBus Command recv function.
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* Call it to read and process pocketBus commands.
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*/
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bool pocketcmd_recv(struct PocketCmdCtx *ctx, PocketCmdMsg *recv_msg)
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{
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PocketMsg msg;
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/* Try to read a packet from pocketBus */
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while (pocketbus_recv(ctx->bus_ctx, &msg))
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{
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/* Check address */
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if (msg.addr == ctx->addr ||
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msg.addr == POCKETBUS_BROADCAST_ADDR)
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{
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#if CPU_AVR
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const PocketCmdHdr *hdr = (const PocketCmdHdr *)msg.payload;
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#else
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#if !CPU_ARM
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#warning Fix alignment problem..
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/*
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* The code below make one memcopy, this the only way to
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* solve alignment problem on ARM. If you are use other
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* architecture you should find other way to optimize
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* this code.
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*/
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#endif
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PocketCmdHdr hd;
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memcpy(&hd, msg.payload, sizeof(PocketCmdHdr));
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const PocketCmdHdr *hdr = &hd;
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#endif
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pocketcmd_t cmd = be16_to_cpu(hdr->cmd);
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/* We're no longer waiting for a reply (in case we were) */
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if (cmd == ctx->waiting)
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ctx->waiting = PKTCMD_NULL;
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recv_msg->cmd_ctx = ctx;
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recv_msg->cmd = cmd;
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recv_msg->len = msg.len - sizeof(PocketCmdHdr);
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recv_msg->buf = msg.payload + sizeof(PocketCmdHdr);
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return true;
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}
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}
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return false;
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}
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/**
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* Send command \a cmd to/from slave adding \a len arguments in \a buf.
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* Address used is contained in \a ctx->addr .
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* If we are master and the message has a reply, you must set \a wait_reply to true.
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* \return true if all is ok, false if we are already waiting a replay from another slave.
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*/
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bool pocketcmd_send(struct PocketCmdCtx *ctx, pocketcmd_t cmd, const void *buf, size_t len, bool wait_reply)
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{
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/* Check if we are waiting a reply from someone */
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if (ctx->waiting != PKTCMD_NULL)
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{
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/* Check is reply timeout is elapsed */
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if (timer_clock() - ctx->reply_timer < ms_to_ticks(CONFIG_POCKETBUS_CMD_REPLY_TIMEOUT))
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{
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LOG_ERR("Pkt discard! waiting cmd[%04X]\n", ctx->waiting);
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return false;
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}
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else
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{
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LOG_INFO("Timeout waiting cmd[%04X]\n", ctx->waiting);
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ctx->waiting = PKTCMD_NULL;
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}
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}
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/* Endianess! */
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cmd = cpu_to_be16(cmd);
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/* Send packet */
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pocketbus_begin(ctx->bus_ctx, ctx->addr);
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pocketbus_write(ctx->bus_ctx, &cmd, sizeof(cmd));
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pocketbus_write(ctx->bus_ctx, buf, len);
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pocketbus_end(ctx->bus_ctx);
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if (wait_reply)
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{
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ctx->waiting = be16_to_cpu(cmd);
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ctx->reply_timer = timer_clock();
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}
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return true;
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}
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/**
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* Init pocketBus command layer.
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* \a ctx is pocketBus command layer context.
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* \a bus_ctx is pocketBus context.
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* \a addr is slave address (see pocketcmd_setAddr for details.)
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* \a search is the lookup function used to search command ID callbacks.
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*/
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void pocketcmd_init(struct PocketCmdCtx *ctx, struct PocketBusCtx *bus_ctx, pocketbus_addr_t addr, pocketcmd_lookup_t search)
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{
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ASSERT(ctx);
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ASSERT(bus_ctx);
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ASSERT(search);
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MOD_CHECK(timer);
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memset(ctx, 0, sizeof(*ctx));
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ctx->bus_ctx = bus_ctx;
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ctx->search = search;
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pocketcmd_setAddr(ctx, addr);
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}
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/**
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* Helper function used to reply to master with an ACK.
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*/
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void pocketcmd_replyAck(struct PocketCmdMsg *msg)
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{
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uint8_t ack[] = { POCKETBUS_ACK };
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pocketcmd_slaveReply(msg->cmd_ctx, msg->cmd, ack, sizeof(ack));
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}
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/**
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* Helper function used to reply to master with a NAK.
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*/
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void pocketcmd_replyNak(struct PocketCmdMsg *msg)
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{
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uint8_t nak[] = { POCKETBUS_NAK };
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pocketcmd_slaveReply(msg->cmd_ctx, msg->cmd, nak, sizeof(nak));
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}
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